This document provides information on the TSM Integrated Step-Servo product line from Applied Motion Products. The TSM is an all-in-one motor, drive, encoder and controller solution that combines stepper motor technology with servo control for high accuracy position and velocity control. It is available in multiple models for pulse input control, basic control with serial communication, built-in programmable motion control, and CANopen network control. The document describes the features, specifications, software, system configurations and ordering information for the TSM Integrated Step-Servo.

1. TSMIntegrated
Step-Servo

Compliant
■ Multi-axis field bus control
■ Intelligent built-in controller
■ Compact all-in-one solution
■ Efficient, smooth, accurate & fast
■ Enhanced motor optimized design
Closed
Loop
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2. 2
FeaturesTSMIntegrated
Step-Servo
±1 Count Error
(20000 counts/rev)
Stepper
TSM
Smooth & Accurate
Multi-functional Capability
Closed Loop
Low Heating/High Efficiency
The Step-Servo is an innovative revolution for the world of motion control; it enhances the stepper motors with servo technology
to create a product with exceptional features and broad capabilities.
TSM is Applied Motion Products' integrated Step-Servo compact motor+drive+encoder+controller all-in-one solution.
ƒƒ High accuracy position and velocity
control for the most demanding
applications.
ƒƒ Robust servo loops that tolerate wide
fluctuation in load inertia and frictional
loading.
ƒƒ Precise positioning to within ±1 count
(0.018°) using high resolution (20,000
counts/rev) encoder.
ƒƒ Uses only the current required by the application, generating
minimum heat output.
ƒƒ When at stand-still, the current can reach nearly zero for extremely
low heat output.
ƒƒ Being able to use all available torque allows for more efficient and
compact motor usage.
ƒƒ Space vector current control with 5000 line high resolution encoder
gives smooth and quiet operation, especially at low speeds
ƒƒ A feature never found with traditional stepping motors
ƒƒ High stiffness due to the nature of the stepping motor combined with the
highly responsive servo control
ƒƒ Accurate position control both while running and static positioning
Motion
Command
Servo
Controller Amplifier
Feedback
Closed
Loop
Velocit
y
Torque
P
osition
Motor
Encoder
energyenergy
TSMStepper
energyenergy
Heat
Loss Power
Output
30%
Heat
Loss Power
Output
80%
3rd Party Control
Pulse&Dir
CW/CCW
A/B Quadrature
Pulse Control
5V
Ain
0
Analog Position
Analog Control
Analog Velocity
ID1ID2IDn
HUB444
1
2
3
4
UPTO
127AXES
Muti-Axis Network
UPTO
32AXESRS-485
Downloading
Motion Program Stand Alone Operation
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3. 3
FeaturesTSMIntegrated
Step-Servo
Easy Tuning
Fast Response
High Torque
Motion Monitoring
Key Enhancements Based on the SSM Family
ƒƒ Up to 8 digital inputs, 4 digital outputs and 1 analog inputs for S/Q/C type
ƒƒ A/B/Z differential encoder signal output supported for P type
ƒƒ Automatic load inertia detection
ƒƒ On board daisy chain connection for field bus control(RS-485, Modbus/RTU, CANopen)
ƒƒ Multiple homing features for S/Q type
ƒƒ Software limit for S/Q type
ƒƒ Built-in position table up to 63 points for S type
ƒƒ Pre-defined tuning parameters for maximum control performance
and stability.
ƒƒ Easy selection list provides the level of control desired.
ƒƒ In most cases NO extra manual tuning is required.
Load Inertia
1:10 1:5 1:1
ƒƒ For difficult control situations where performing a precise move is necessary,
the Quick Tuner provides an easy to use interface for performing
and monitoring the motion profile.
ƒƒ Many common parameters such as Actual Speed or Position Error can be
monitored to evaluate system performance.
ƒƒ The monitoring is interactive with the servo tuning capability so that optimum
performance can be achieved.
ƒƒ Because the TSM operates in full servo mode, all the available
torque of the motor can be used. The motor can provide as much as
50% more torque in many applications. High torque capability often
eliminates the need for gear reduction.
ƒƒ Boost torque capability can provide as much as 50% more torque for
short, quick moves.
ƒƒ When performing fast point-to-point moves, the high torque output
and advanced servo control provides a very responsive system far
exceeding what can be done with a conventional stepper system.
Velocity
Distance
Step Servo
Typical
Application
for
TSM
150%
100%
70%
Stepper
Continuous
Rated
Torque
Boost
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4. 4
SoftwareTSMIntegrated
Step-Servo
All software applications run on Windows 7 or 8 , Vista, XP, 32-bit or 64-bit
Step-Servo Quick Tuner Features
ƒƒ Friendly interface
ƒƒ Easy setup in just three steps
ƒƒ Drive setup and configuration
ƒƒ Servo tuning and sampling
ƒƒ Motion testing and monitoring
ƒƒ Write and save SCL command scripts
ƒƒ Integrated online help
Built-in Q Programming Features
ƒƒ Single-axis motion control
ƒƒ Stored program execution
ƒƒ Multi-tasking
ƒƒ Conditional processing
ƒƒ Math functions
ƒƒ Data registers
ƒƒ Motion profile simulation
ƒƒ Integrated online help
RS485 Bus Utility Features
ƒƒ Stream SCL commands from the command line
ƒƒ Simple interface with powerful capability
ƒƒ Easy setup with RS-485 for 32 axis network motion control
ƒƒ Monitoring status of I/O, drive, alarm and the other parameters
ƒƒ Useful motion parameters
ƒƒ Write and save SCL command scripts
ƒƒ Integrated online help
ƒƒ Supports all RS-485 drives
CANopen Test Tool Features
ƒƒ Friendly User Interface
ƒƒ Multiple operation mode support
ƒƒ Multi-thread, high performance
ƒƒ CAN bus monitor and log history function
ƒƒ Kvaser/PEAK/ZLG adapter support
Our software and user manual can be
downloaded from our website:
www.applied-motion.com
FREE DOWNLOAD
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5. 5
System ConfigurationTSMIntegrated
Step-Servo
◇◇ -P Pulse Input Type
Controlled via pulse generator, indexer or motion
controller.
Main Features
ƒƒ Accepts three types of pulse signal input as
Pulse&Direction, CW/CCW and A/B Quadrature
ƒƒ Encoder signal output, A/B/Z differential
◇◇ -S Basic Type with Serial Communication
Controlled via pulse signals, analog signal or Applied
Motion Products SCL streaming serial commands.
Main Features
ƒƒ Pulse control
ƒƒ Analog control
ƒƒ Host real time control using SCL via RS-232/RS-485
ƒƒ Up to 32 axes per channel for RS-485
ƒƒ Position Table (up to 63 points selected by digital
inputs)
Ordering Information
150W P/N PS150A24
320W P/N PS320A48
USB-RS232 Converter
P/N: 3004-235
RS232 Communication Cable
P/N: 3004-294
I/O Cable(2 meters)
P/N: 3004-308 (unshielded)
P/N: 3004-309 (shielded)
PC/Configuration
Supply Voltage
TSM17P: 12 - 48VDC
TSM23P: 12 - 70VDC
Ordering Information
P/N: RC880
AC
Source
Regeneration Clamp DC Power Supply
PLC
Motion control card
Pulse generator
Applied Motion Products SCL Motion Control
Ordering Information
150W P/N: PS150A24
320W P/N: PS320A48
USB-RS232 Converter
Configuration
Serial realtime control
P/N: 3004-235
USB-RS485 Converter
P/N: 8005-003
I/O Cable (2 meters)
P/N: 3004-308 (unshielded)
P/N: 3004-309 (shielded) PLC,Sensor,I/O
Host controller
with serial port
PC
Supply Voltage
TSM17S: 12 - 48VDC
TSM23S: 12 - 70VDC
AC
Source
Regeneration Clamp
Ordering Information
P/N: RC880
DC Power Supply
*RS485 Version
connect to another
RS-485 device or
terminal resistor
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6. 6
System configurationTSMIntegrated
Step-Servo
◇◇ -Q Built-in Programmable Motion Controller
(Includes Modbus/RTU Type)
Run stand-alone, stored programs. Commands for
controlling motion, inputs & outputs, drive configuration
and status, as well as math operations, register
manipulation, and multi-tasking.
Main Features
ƒƒ Stand-alone operation plus Serial host control
ƒƒ Math operations
ƒƒ Register manipulation
ƒƒ Multi-tasking
ƒƒ With all features in S type
ƒƒ Modbus/RTU network, up to 32 axes per channel
◇◇ -CANopen Type
Operates on a CANopen communication network and
conforms to CiA301 and CiA402. It supports runing
stored Q programs via Applied Motion Products-specific
CANopen objects.
Main Features
ƒƒ CANopen network
ƒƒ Up to 127 axes per channel
ƒƒ Objects for Q programming
Ordering Information
150W P/N: PS150A24
320W P/N: PS320A48
USB-RS232 Converter
DownLoad Q program
Serial real time control
（when needed）
P/N: 3004-235
USB-RS485 Communication cable
P/N: 8500-203
PC
Supply Voltage
TSM17Q: 12 - 48VDC
TSM23Q: 12 - 70VDC
Ordering Information
P/N: RC880
PLC,Sensor,I/O
Host controller
with serial port
*RS485 Version
connect to another
RS-485 device or
terminal resistor
I/O Cable (2 meters)
P/N: 3004-308 (unshielded)
P/N: 3004-309 (shielded)
AC
Source
Regeneration Clamp DC Power Supply
Modbus/RTU
Host Controller
Ordering Information
150W P/N: PS150A24
320W P/N: PS320A48
DownLoad Q program
via RS-232
USB-CAN Converter
P/N: MS-USB-CAN Couverter
Ordering Information
P/N: RC880
I/O Cable (2 meters)
P/N: 3004-308 (unshielded)
P/N: 3004-309 (shielded)
Supply Voltage
TSM17C: 12 - 48VDC
TSM23C: 12 - 70VDC
TSM24C: 12 - 70VDC
CiA301 CiA401
PCCANopen Master
Connect to another
CANopen slave node
or terminal resistor
PLC,Sensor,I/O
AC
Source
DC Power SupplyRegeneration Clamp
System ConfigurationTSMIntegrated
Step-Servo
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7. 7
Model
Pulse input type TSM17P-1AG TSM17P-2AG TSM17P-3AG
Basic type TSM17S-1□G TSM17S-2□G TSM17S-3□G
Q program type (Includes Modbus/RTU type) TSM17Q-1□G TSM17Q-2□G TSM17Q-3□G
CANopen type TSM17C-1CG TSM17C-2CG TSM17C-3CG
Holding Torque N•m 0.28 0.42 0.52
Rotor Inertia g•cm2
38 57 82
Supply Voltage VDC 12-48
Encoder Resolution counts/rev 20000 20000 20000
Maximum Speed RPM 3600 3600 3600
Mass g 280 360 440
Enter A(RS232) or R(RS485) in the box(□) within the model name
0
0.1
0.2
0.3
0.4
0 10 20 30 40 50
Torque(N·m)
Speed(rps)
TSM17□-1□G
12V 24V 48V
12V 24V 48V
Continuous
Boost
0
0.1
0.2
0.3
0.4
0.5
0.6
0 10 20 30 40 50
12V 24V 48V
12V 24V 48V
TSM17□-2□G
Torque(N·m)
Speed(rps)
Continuous
Boost
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0 10 20 30 40 50
12V 24V 48V
12V 24V 48V
TSM17□-3□G
Torque(N·m)
Speed(rps)
Continuous
Boost
Pulse input type
TSM17P-■AG
Basic type
TSM17S-■□G
Q program type
TSM17Q-■□G
CANopen type
TSM17C-■CG
Control Command Pulse input
Pulse input
Analog signal
Position table
SCL
Pulse input
Analog signal
SCL
Q Program
Modbus/RTU
Q program
CANopen
Pulse signal type
Pulse+Direction
CW/CCW Pulse
A/B Quadrature
Pulse+Direction
CW/CCW Pulse
A/B Quadrature
Pulse+Direction
CW/CCW Pulse
A/B Quadrature
-
Maximum Input Pulse Frequency
2MHz,
Minimum Pulse Width=250ns
2MHz,
Minimum Pulse Width=250ns
2MHz,
Minimum Pulse Width=250ns
-
Digital Input 4 8 8 8
Digital Output 3 4 4 4
Analog Input - 1 1 1
Encoder Output
20,000 counts/rev
A/B/Z Differential
- - -
Digital Input Specification
Optical Isolated
5-24VDC
Digital Onput Specification
Optical Isolated
30VDC/100mA
Analog Input Specification
AIN referenced to GND, Range 0–5VDC,
Resolution:12bits
Supply Voltage 12-48VDC
Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground)
Comunication RS-232 RS-232 or RS-485 RS-232 or RS-485 RS-232&CANopen
Protocol - SCL Modbus/RTU or SCL CANopen
Enter motor length 1,2,3 in the box(■) within the model name
Enter A(RS232) or R(RS485) in the box(□) within the model name
Frame size 42mm
◇◇ Torque Curves
◇◇ Electrical Specifications
SpecificationsTSMIntegrated
Step-Servo
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8. 8
SpecificationsTSMIntegrated
Step-Servo
Model
Pulse input type TSM23P-2AG TSM23P-3AG TSM23P-4AG
Basic type TSM23S-2□G TSM23S-3□G TSM23S-4□G
Q program type (Includes Modbus/RTU type) TSM23Q-2□G TSM23Q-3□G TSM23Q-4□G
CANopen type TSM23C-2CG TSM23C-3CG TSM23C-4CG
Holding Torque N•m 1.0 1.5 2.4
Rotor Inertia g•cm2
260 460 490
Supply Voltage VDC 12-70
Encoder Resolution counts/rev 20000 20000 20000
Maximum Speed RPM 3600 3600 3600
Mass g 850 1200 1400
Enter A(RS232) or R(RS485) in the box(□) within the model name
Pulse input type
TSM23P-■AG
Basic type
TSM23S-■□G
Q program type
TSM23Q-■□G
CANopen type
TSM23C-□CG
Control Command Pulse input
Pulse input
Analog signal
Position table
SCL
Pulse input
Analog signal
SCL
Q Program
Modbus/RTU
Q program
CANopen
Pulse signal type
Pulse+Direction
CW/CCW Pulse
A/B Quadrature
Pulse+Direction
CW/CCW Pulse
A/B Quadrature
Pulse+Direction
CW/CCW Pulse
A/B Quadrature
-
Maximum Input Pulse Frequency
2MHz,
Minimum Pulse Width=250ns
2MHz,
Minimum Pulse Width=250ns
2MHz,
Minimum Pulse Width=250ns
-
Digital Input 4 8 8 8
Digital Output 3 4 4 4
Analog Input - 1 1 1
Encoder Output
20,000 counts/rev
A/B/Z Differential
20,000 counts/rev
A/B/Z Differential
20,000 counts/rev
A/B/Z Differential
-
Digital Input Specification
Optical Isolated
5-24VDC
Digital Onput Specification
Optical Isolated
30VDC/100mA
Analog Input Specification
AIN referenced to GND, Range 0–5VDC,
Resolution: 12bits
Supply Voltage 12-70VDC
Protection Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground)
Comunication RS-232 RS-232 or RS-485 RS-232 or RS-485 RS-232&CANopen
Protocol - SCL Modbus/RTU or SCL CANopen
Enter motor length 2,3 or 4 in the box(■) within the model name
Enter A(RS232) or R(RS485) in the box(□) within the model name
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
24V 48V 70V
24V 48V 70V
TSM23□-2□G
Torque(N·m)
Speed(rps)
Continuous
Boost
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Continuous
Boost
24V 48V 70V
24V 48V 70V
Torque(N·m)
Speed(rps)
TSM23□-4□G
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50
24V 48V 70V
24V 48V 70V
TSM23□-3□G
Torque(N·m)
Speed(rps)
Continuous
Boost
Frame size 56mm
◇◇ Torque Curves
◇◇ Electrical Specifications
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9. 9
SpecificationsTSMIntegrated
Step-Servo
RS485 or Modbus/RTU Specifications
Interface RS485 or Modbus/RTU
Baud Rate(bps) 9600/19200/38400/57600/115200
Maximum Distance Due to transmission baud rate
Maximum Connections 32 axes per channel
Communication Cable Twisted Shielded Cable
Address Setting Via Quick Tuner
General Specifications
TSM Integrated
Insulation Class Class B(130o
C)
Insulation Resistance 100MΩ/DC500V
Dielectric Strength 500VAC 1 minute
Operating
Environment
Ambient Temperature 0~+40o
C(non-freezing)
Ambient Humidity 90% or less(non-condensing)
Atmosphere No corrosive gases, dust, water or oil
Degree of Protection IP20
Permissible Overhung Load and Permissible Thrust Load (Unit:N)
Frame Size Model
Permissible Overhung Load Permissible
Thrust
Load
Distance(L) from Shaft End(mm)
0 5 10 15 20
42mm
TSM17□-1□G
35 44 58 85 -
Less than the
motor mass
TSM17□-2□G
TSM17□-3□G
56mm
TSM23□-2□G
63 75 95 130 190TSM23□-3□G
TSM23□-4□G
L
Thrust Load
OverhungLoad
Model “L” “M”
TSM17□-1□G 69.5 26.6
TSM17□-2□G 75 32.1
TSM17□-3□G 83.5 40.6
TSM17
* 5 mm diameter shaft available per request.
L±1 20
15
2
Ø22
M
5.5Flat
Ø6
31
31
42.3Max.
42.3 Max.
43.5
74
61
4-M3 Depth 4.5
L±1
20
24
7.5Flat
Ø8
Ø38.1
M
7
4-Ø5.1
56.4 Max.
56.4Max.
47.14
47.14
88
75
1.6
50.9
at
Ø38.1
20
24129.15±1
90
77
47.14
60.5Max.
47.14
60.5 Max.
4-Ø4.5
Ø10
1.5
Model “L” “M”
TSM23□-2□G 95.6 24.6
TSM23□-3□G 117.6 46.6
TSM23□-4□G 120.6 49.9
TSM23
* 6.35 mm diameter shaft available per request.
L±1 20
15
2
Ø22
M
5.5Flat
Ø6
31
31
42.3Max.
42.3 Max.
43.5
74
61
4-M3 深 4.5
L±1
20
24
7.5Flat
Ø8
Ø38.1
M
7
4-Ø5.1
56.4 Max.
56.4Max.
47.1447.14
88
75
1.6
50.9
9.5Flat
8
58.5
Ø38.1
20
24129.15±1
90
77
47.14
60.5Max.
47.14
60.5 Max.
4-Ø4.5
50.9
Ø10
1.5
CANopen Specifications
Interface CANopen CiA301 CiA402
Bit Rate(bps) 1M/800K/500K/250K/125K/50K/20K/12.5K
Maximum Distance Due to transmission bit rate
Maximum Slave Nodes 127 axes per channel
Communication Cable Twisted Shielded Cable
Node ID Setting
On Board Rotary Switch: Lower 4 bits 0H-FH
Quick Tuner: Upper 3 bits 00H-7FH
Dimensions (Unit:mm)
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10. 10
AccessoriesTSMIntegrated
Step-Servo
◇◇ Switching Power Supplies
Applied Motion Products recommends the following switching power supplies
P/N:PS150A24 150W, 24VDC P/N:PS320A48 320W, 48VDC
◇◇ Regeneration Clamp
P/N: RC880
When using a regulated power supply you may encounter a problem with regeneration. Regeneration occurs when the kinetic energy of the
motor and load is transferred back to the power supply during deceleration. This can trip the overvoltage protection of a switching power supply,
causing it to shut down.
Applied Motion Products offers the RC880 “regeneration clamp” to solve this problem. If in doubt, use an RC880 for your first installation. If the
“regen” LED on the RC880 never flashes, you don’t need the clamp.
◇◇ USB Converter
Model: 3004-235
Description: USB-RS232 converter
P/N Catagory Technical Specification
PS150A24 Switching power supplier 150W, 24V
PS320A48 Switching power supplier 320W, 48V
RC880 Regenaration Clamp 80VDC Max. 50W
3004-235 USB Converter USB-RS232
8005-003 USB Converter USB-RS485
3004-308-□M Cable I/O cable，unshielded
3004-309-□M Cable I/O cable，shielded
3004-294 Cable RS232 communication cable
3004-310-□M Cable RS485 Daisy Chain
3004-311-□M Cable CANopen Daisy Chain
* □□□stands for length, unit:cm, ex.1M stands for 1 meter
Optional Accessories
76
45
94
85
85
28.6
Model: 8005-003
Description: USB-RS485 converter
5 4
8 1
199
157
4-M4 L=4mm
Air flow direction FAN
4MAX
18
11.5MAX
8
63
99
18
5
V ADJ .
CN3
LED
1
2
3
4
5
6
7
9.5
4-M4 L=4mm
12.5
25 130
52
2512.5
11.5MAX
3-M4 L=4mm
LED
V ADJ .
CN3
9
1
2
3
4
5
6
7
25
117 28
12.525
44
170
152
65 45
4-M4 L=4mm
89.5
49.5
1863
99
2
1
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11. 11
AccessoriesTSMIntegrated
Step-Servo
◇◇ General Purpose I/O Cable (unshielded)
P/N Length
3004-308-1M 1m
3004-308-2M 2m
3004-308-5M 5m
Pin No. Assignment Description Color Pin No. Assignment Description Color
1 X1+
High Speed Digital Input
BLU 15 X8+
X8 Digital Input
GRN
2 X1- BLU/WHT 16 X8- GRN/WHT
3 X2+
High Speed Digital Input
YEL 17 Y1 Y1 Digital Input BLU
4 X2- YEL/WHT 18 Y2 Y2 Digital Input YEL
5 X3 X3 Digital Input GRN 19 Y3 Y3 Digital Input BRN
6 X4 X4 Digital Input ORG 20 YCOM Y Output COM BLK
7 X5 X5 Digital Input GRY 21 Y4+
Y4 Digital COM
RED
8 X6 X6 Digital Input PPL 22 Y4- RED/WHT
9 XCOM X Digital Input COM WHT 23 Z+ Encoder Output Z
（if applicable）
BLK
10 +5V +5V Analog Voltage RED 24 Z- BLK/WHT
11 AIN Analog Input BLU 25 B+ Encoder Output B
(if applicable）
GRN
12 GND Analog Input Ground BLK 26 B- GRN/WHT
13 X7+
X7 Digital Input
ORG 27 A+ Encoder Output A
（if applicable）
ORG
14 X7- ORG/WHT 28 A- ORG/WHT
◇◇ General Purpose I/O Cable (shielded)
P/N Length
3004-309-1M 1m
3004-309-2M 2m
3004-309-5M 5m
Pin No. Assignment Description Color Pin No. Assignment Description Color
1 X1+
High Speed Digital Input
BLK 15 NC
2 X1- RED 16 NC
3 X2+
High Speed Digital Input
BLK 17 Y1 Y1 Digital Output BLK
4 X2- WHT 18 Y2 Y2 Digital Output BRN
5 X3 X3 Digital Input BLK 19 Y3 Y3 Digital Output BLK
6 X4 X4 Digital Input GRN 20 YCOM Y Output COM ORG
7 NC 21 NC
8 NC 22 NC
9 XCOM X Input COM BLK 23 Z+ Encoder Output Z
（if applicable）
RED
10 +5V +5V Analog Voltage BLU 24 Z- WHT
11 AIN Analog Input BLK 25 B+ Encoder Output B
(if applicable）
RED
12 GND Analog Input Ground YEL 26 B- GRN
13 NC 27 A+ Encoder Output A
（If applicable）
RED
14 NC 28 A- BLU
◇◇ RS485 Daisy Chain Communication Cable
P/N Length
3004-310-0.5M 0.5m
3004-310-1M 1m
3004-310-3M 3m
3004-310-5M 5m
L±100
1
51
5
J2J1
Housing: ZER-05V-S(JST)
Crimp: SZE-002T-P0.3(JST)
Housing: ZER-05V-S(JST)
Crimp: SZE-002T-P0.3(JST)
◇◇ RS232 Communication Cable (P/S/Q Type)
P/N Length
3004-294 1.5m
１
J1
1500±20
1
J2
15±2
Connector(JST)
Housing:ZER-04-S
Crimp:SZE-002T-P0.3
10
20
AA
B
59
16
2
3
4
DGND
TX
VCC
RX
B
DB/9PFemale
Housing:PUDP-28V-S(JST)
Crimp:SPUD-001T-P0.5(JST)
27 28
1 2
L±50
Housing:PUDP-28V-S(JST)
Crimp:SPUD-001T-P0.5(JST)
UL2464 AMG24 10Pair
2000±100
30±3
20±3
10
27 28
1 2
◇◇ CANopen Daisy Chain Communication Cable
P/N Length
3004-311-0.5M 0.5m
3004-311-1M 1m
3004-311-3M 3m
3004-311-5M 5m
L±100
1
51
5
J2J1
Housing: ZER-05V-S(JST)
Crimp: SZE-002T-P0.3(JST)
Housing: ZER-05V-S(JST)
Crimp: SZE-002T-P0.3(JST)
◇◇ RS232 Communication Cable (C Type)
P/N Length
3004-296 1.5m
Connector(JST)
J2
J1
B
DB/9P Female
1
5
Housing: ZER-05-S
Crimp: SZE-002T-P0.3
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

12. Model Torque Control I/O(*) RS-232 RS-485 Modbus/RTU CANopen
TSM17P-1AG
0.28N·m
P 4DI,3DO,EO 
TSM17S-1AG
S 8DI,4DO,1AI

TSM17S-1RG 
TSM17Q-1AG
Q 8DI,4DO,1AI
 
TSM17Q-1RG  
TSM17C-1CG C 8DI,4DO,1AI  
TSM17P-2AG
0.42N·m
P 4DI,3DO,EO 
TSM17S-2AG
S 8DI,4DO,1AI

TSM17S-2RG 
TSM17Q-2AG
Q 8DI,4DO,1AI
 
TSM17Q-2RG  
TSM17C-2CG C 8DI,4DO,1AI  
TSM17P-3AG
0.52N·m
P 4DI,3DO,EO 
TSM17S-3AG
S 8DI,4DO,1AI

TSM17S-3RG 
TSM17Q-3AG
Q 8DI,4DO,1AI
 
TSM17Q-3RG  
TSM17C-3CG C 8DI,4DO,1AI  
Model Torque Control I/O(*) RS-232 RS-485 Modbus/RTU CANopen
TSM23P-2AG
1.0N·m
P 4DI,3DO,EO 
TSM23S-2AG
S
8DI,4DO
1AI,EO

TSM23S-2RG 
TSM23Q-2AG
Q
 
TSM23Q-2RG  
TSM23C-2CG C 8DI,4DO,1AI  
TSM23P-3AG
1.5N·m
P 4DI,3DO,EO 
TSM23S-3AG
S
8DI,4DO
1AI,EO

TSM23S-3RG 
TSM23Q-3AG
Q
 
TSM23Q-3RG  
TSM23C-3CG C 8DI,4DO,1AI  
TSM23P-4AG
2.4N·m
P 4DI,3DO,EO 
TSM23S-4AG
S
8DI,4DO
1AI,EO

TSM23S-4RG 
TSM23Q-4AG
Q
 
TSM23Q-4RG  
TSM23C-4CG C 8DI,4DO,1AI  
* DI: Digital Input; DO: Digital Output; EO: Encoder Output; AI: Analog Input
TSM Series
Feedback
G=5000-line encoder
Control Mode
P=Pulse Type
S=Basic Type
Q=Q Program Type
(Modbus/RTU Type)
C=CANopen Type
Frame Size
17,23,24
Communication
A=RS-232
R=RS-485
C=CANopen
Motor Size
1 = 1 Stack
2 = 2 Stack
3 = 3 Stack
TSM 17 S-2 A G
Numbering System
Ordering Information
• The model names, specifications, appearances and other details of products featured in this brochure are subject to change without notice for purposes of improvement.
Please check with our sales office to confirm that the stated information is valid before you examine or order any product featured in the brochure.
925-0017A
404 Westridge Dr.
Watsonville, CA 95076, USA
1-800-525-1609
Tel (831) 761-6555
Fax (831) 761-6544
www.applied-motion.com
Distributed by:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By: